一类遥操作多机器人系统的面向对象仿真模型

本文提出了一种基于Internet的多机器人系统的面向对象仿真模型。在定义了系统基本物理实体类和虚拟实体类的基础上，给出了通用的系统组织与继承关系模型框架及消息传递机制，它支持系统的监督与协调控制方案。该模型具有可重用、可扩展的统一建模界面，模型的复杂性与具体完成的任务无关，而主要依赖于组成系统的具体对象的重用、扩展及其相互之间关系的描述，从而保证了系统研制人员能够更多地研究系统相关问题，而不是编程问题。最后，通过两个机器人堆积木的例子验证了该模型的有效性。

An Object-Oriented Model of Simulation for Remote Multi-robot System

This paper describes an object-oriented model of simulation for multi-robot system. Based on the defining of generic physical and virtual classes, a universal hierarchies and inheritances framework and messages passing patterns of the system are proposed, which support supervisory and coordinated control. The model supplies a unified modeling interface that has the characteristics of reusability and extensibility. Moreover, the complexity of the model has no relationship with the specified task, but mainly rests on the work of reusing object, extending object, and constructing links among objects. As a result, the work of software developers is simplified by allowing them to concentrate on the other related issues of application rather than programming issues. Finally, an example of putting building blocks by two robots is achieved to verify the effectiveness of the model.